#! -*- coding: utf-8 -*-
"""
@Author: Gump
@Create Time: 20241107
@Info: 小车运动控制
"""
import HiwonderSDK.mecanum as mecanum
import rclpy

from rclpy.node import Node
from rclpy.action import ActionServer

chassis = mecanum.MecanumChassis()

class MoveControlService(Node):
    
    def __init__(self, name):
        super().__init__(name)

        self.action_server = ActionServer(
            self,  
            srv,  # 接口类型
            'car_move',  # 动作名称
            self.execute_callback  # 回调函数
        )

    def execute_callback(self, goal_handle):
        """客户端执行函数"""
        pass


def main(args=None):
    """主函数"""
    rclpy.init(args=args)
    node = MoveControlService('action_move_server')
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()
    
